/**
  ******************************************************************************
  * @file    stm32f10x_it.c 
  * @author  MCD Application Team
  * @version V3.5.0
  * @date    08-April-2011
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and peripherals
  *          interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */ 

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_it.h"


/** @addtogroup STM32F10x_StdPeriph_Examples
  * @{
  */

/** @addtogroup SysTick_TimeBase
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M3 Processor Exceptions Handlers                         */
/******************************************************************************/

/**
  * @brief  This function handles NMI exception.
  * @param  None
  * @retval None
  */
void NMI_Handler(void)
{
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Memory Manage exception.
  * @param  None
  * @retval None
  */
void MemManage_Handler(void)
{
  /* Go to infinite loop when Memory Manage exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Bus Fault exception.
  * @param  None
  * @retval None
  */
void BusFault_Handler(void)
{
  /* Go to infinite loop when Bus Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Usage Fault exception.
  * @param  None
  * @retval None
  */
void UsageFault_Handler(void)
{
  /* Go to infinite loop when Usage Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
void SVC_Handler(void)
{
}

/**
  * @brief  This function handles Debug Monitor exception.
  * @param  None
  * @retval None
  */
void DebugMon_Handler(void)
{
}

/**
  * @brief  This function handles PendSV_Handler exception.
  * @param  None
  * @retval None
  */
void PendSV_Handler(void)
{
}

/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
void SysTick_Handler(void)
{
}

/******************************************************************************/
/*                 STM32F10x Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32f10x_xx.s).                                            */
/******************************************************************************/


void TIM2_IRQHandler()
{
  static int count=0;
  if(TIM_GetFlagStatus(TIM2,TIM_IT_Update)==SET){
    TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
    count++;
    if(count==1000){
      count=0;
    }
  }
}

void TIM4_IRQHandler(void)
{
  static long rest=0;
  if(TIM_GetITStatus(TIM4,TIM_IT_CC1)==SET)
  {
    TIM_ClearITPendingBit(TIM4,TIM_IT_CC1);
    if(StepMotor_1.step_flag)
    {
      StepMotor_1.step--;
      StepMotor_1.accel_count++;

      switch(StepMotor_1.state)
      {
        case ACCEL:
          StepMotor_1.step_delay=StepMotor_1.step_delay-(((2*StepMotor_1.step_delay)+rest)/(4*StepMotor_1.accel_count+1));
          rest=((2*StepMotor_1.step_delay)+rest)%(4*StepMotor_1.accel_count+1);
          TIM4->ARR=StepMotor_1.step_delay;
          if(StepMotor_1.accel_count>=StepMotor_1.decel_start)
          {
            StepMotor_1.accel_count=StepMotor_1.decel_val;
            rest=0;
            StepMotor_1.state=DECEL;
          }
          if (StepMotor_1.step_delay<=StepMotor_1.min_delay)
          {
            rest=0;
            StepMotor_1.state=RUN;
          }
          break;
        case RUN:
          if(StepMotor_1.accel_count>=StepMotor_1.decel_start)
          {
            StepMotor_1.accel_count=StepMotor_1.decel_val;
            rest=0;
            StepMotor_1.state=DECEL;
          }
          break;
        case DECEL:
          StepMotor_1.step_delay=StepMotor_1.step_delay-(((2*StepMotor_1.step_delay)+rest)/(4*StepMotor_1.accel_count+1));
          rest=((2*StepMotor_1.step_delay)+rest)%(4*StepMotor_1.accel_count+1);
          if(StepMotor_1.step_delay>=0xffff)
          {
            StepMotor_1.step_delay=0xffff;
          }
          TIM4->ARR=StepMotor_1.step_delay;
          break;
        default:
          break;
      }


      if(StepMotor_1.step==0)
      {
        StepMotor_1.step_flag=0;
        StepMotor_1.accel_count=0;
        TIM_CCxCmd(TIM4,TIM_Channel_1,TIM_CCx_Disable);
        StepMotor_Stop(&StepMotor_1);
      }
    }
  }
}


/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
